
where \(T>0\)  and \(D(t)\)  is a Gaussian process with zero mean and variance \(u(t)\) . We can obtain \(x_a(t)\)  and \(u(t)\)  by solving the following ODEs [1]}:
\(&\frac{d}{dt}x_a(t) = g_1\left(t,x_a(t), u(t)\right) - g_2\left(t,x_a(t), u(t)\right)\\&\frac{d}{dt}u(t) = -2\mu \Phi \left(n,x_a(t),\sqrt{u(t)}\right)u(t) + g_1\left(t,x_a(t),u(t)\right)\\&\quad \quad \quad + g_2\left(t,x_a(t), u(t)\right).\) 
